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Animatronic Hand
Graduation project presentation
Overview
Introduction
Constraints
Methodology
Sensor reading
Calculations
Communication
Movement
Results
Conclusion
Questions
Overview
Introduction
Constraints
Methodology
Sensor reading
Calculations
Optimization and filtering
Movement
Results
Conclusion
Questions
Introduction
Introduction
Constraints
Methodology
Sensor reading
Calculations
Communication
Movement
Results
Conclusion
Questions
Constraints
Mechanical constraints:
Hard to acquire springs of specific size and elasticity.
3D printing a hand model was unavailable to us.
Sensor constraints:
Hard to acquire
Readings not always correct
Software constraints:
LEAP Android SDK is still in Alpha mode
Overview
Introduction
Constraints
Methodology
Sensor reading
Calculations
Communication
Movement
Results
Conclusion
Questions
Sensor Reading
Introduction
Constraints
Methodology
Sensor reading
Calculations
Communication
movement
Results
Conclusion
Questions
Calculations
The distances are then summed to calculate the needed pull for the wire.
This is done for each finger, producing a 2-dimensional integer array.
Overview
Introduction
Constraints
Methodology
Sensor reading
Calculations
Communication
movement
Results
Conclusion
Questions
Communication
Calculated wire lengths are sent to the microcontroller from the PC.
The data is sent in big endian, each reading as a 2-byte integer.
The length of the array in bytes, as well as the dimensions of the 2-
dimensional array are appended to the beginning of the sent data.
The Microcontroller reconstructs the 2-dimensional array from the input
bytes.
Overview
Introduction
Constraints
Methodology
Sensor reading
Calculations
Communication
Movement
Results
Conclusion
Questions
Movement Calculations
2
𝐿= (𝐷 + 𝑅)2 +𝑅2 − 2(𝐷 + 𝑅)𝑅 cos 𝜃
2
𝐿= 𝐷2 + 2𝑅2 1 − cos 𝜃 + 2𝐷𝑅(1 − cos 𝜃)
2
𝐿= 𝐷2 + 2𝑅(𝑅 + 𝐷) 1 − cos 𝜃
𝜃 2 1−cos 𝜃
Use the identity: sin 2 = 2
(𝐿2 −𝐷2 )
= 1 − cos 𝜃
2𝑅(𝑅+𝐷)
2 (𝑳2 − 𝑫2 ൯
𝜽 = 2 𝐬𝐢𝐧−1
4𝑹(𝑹 + 𝑫)
Movement
Introduction
Constraints
Methodology
Sensor reading
Calculations
Communication
Movement
Results
Conclusion
Questions
Results
Sensing Process:
Once the system is up and running, you place your right hand above the sensor
The LEAP will read the right hand position and transmit the data
Similar movements will be reflected onto the Animatronic Hand
Results
Final Product:
Overview
Introduction
Constraints
Methodology
Sensor reading
Calculations
Communication
Movement
Results
Conclusion
Questions
Conclusion
The current design only mimics the movement of fingers, the movements of
the wrist are not implemented.
The physical design of the hand can be greatly improved to better mimic
the movements of human hand
Any Questions?
Appendix: Calculations
Assuming that we have and scaling array S1, S2, S3, (an array that contains
values that we want to scale our readings to), and that d(p,q) is Euclidean
distance between vectors p and q, defined as:
2
𝑑(𝑝, 𝑞) = 𝑋𝑝 − 𝑋𝑞 + 𝑌𝑝 − 𝑌𝑞 + 𝑍𝑝 − 𝑍𝑞
𝐿 = 𝐿1 + 𝐿2 + 𝐿3
Appendix: Calculations
Where:
𝑑 𝑉1 ,𝑉2
𝐿1 = 𝑆1 ∗
𝑑 𝑉1 ,𝑉1.5 +𝑑 𝑉1.5 ,𝑉2
𝑑 𝑉2 ,𝑉3
𝐿2 = 𝑆2 ∗
𝑑 𝑉 2 ,𝑉2.5 +𝑑 𝑉2.5 ,𝑉3
𝑑 𝑉3 ,𝑉4
𝐿3 = 𝑆3 ∗
𝑑 𝑉 3 ,𝑉3.5 +𝑑 𝑉3.5 ,𝑉4